From ef8cbbc7ac347da4b831e9485f99a0d7d7e3ce83 Mon Sep 17 00:00:00 2001 From: Makoto Kurihara Date: Wed, 16 Aug 2023 11:41:17 +0900 Subject: [PATCH] feat(behavior_path_planner): tune for short distance lane change (#354) Signed-off-by: Makoto Kurihara Co-authored-by: Shinnosuke Hirakawa <8327162+0x126@users.noreply.github.com> --- .../lane_change/lane_change.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml index cc95e536ec..76aa1e3967 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml @@ -7,10 +7,10 @@ backward_length_buffer_for_end_of_lane: 0.5 # [m] lane_change_finish_judge_buffer: 0.0 # [m] - lane_changing_lateral_jerk: 0.5 # [m/s3] + lane_changing_lateral_jerk: 0.75 # [m/s3] lateral_acc_switching_velocity: 4.0 #[m/s] - minimum_lane_changing_velocity: 0.75 # [m/s] + minimum_lane_changing_velocity: 1.0 # [m/s] prediction_time_resolution: 0.5 # [s] longitudinal_acceleration_sampling_num: 5 lateral_acceleration_sampling_num: 3 @@ -27,7 +27,7 @@ lateral_acceleration: velocity: [0.0, 4.0, 10.0] min_values: [0.15, 0.15, 0.15] - max_values: [0.75, 0.75, 0.75] + max_values: [1.25, 1.25, 1.25] # target object target_object: